A new design of hierarchical fuzzy hybrid position/force control for flexible link robot arm

Proceedings of the American Control Conference

Volumn 6, Issue , 2003, Pages 5239-5244

  Lin, J ^a   Chiang, Tung Sheng ^a  

^a CHING YUN UNIVERSITY   (Taiwan)

Author keywords

Constrained; Hierarchical fuzzy logic; Hybrid position force control

Indexed keywords

FORCE CONTROL; FUZZY SETS; MANIPULATORS;

ROBOTIC MANIPULATORS;

ROBOTS;

EID: 0142230944     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (16)

1. Y.-H. Chen, "Second-order constraints for equations of motion of constrained systems," IEEE/ASME Trans. on Mechatronics, vol. 3, no. 3, September 1998, pp. 240-248.
2. B.C. Chiou and M. Shahinpoor, "Dynamic stability analysis of a one-link force-controlled flexible manipulator," Journal of Robotic Systems, vol. 5, no. 5, 1988, pp. 443-451.
3. F.-Y. Hsu and L.-C. Fu, "Intelligent robot deburring using adaptive fuzzy hybrid position/force control," IEEE Trans. on Robotics and Automation, vol. 16, no. 4, August 2000, pp. 325-335.
4. M. Jamshidi, Large-Scale Systems: Modeling, Control, and Fuzzy Logic, Prentice Hall, 1996.
5. K.P. Jankowski and H.A. ElMaraghy, "Dynamic decoupling for hybrid control of rigid-/flexible-joint robots interacting with the environment," IEEE Trans. on Robotics and Automation, vol. 8, no. 5, October 1992, pp. 519-534.
6. K.P. Jankowski and H.A. ElMaraghy, "Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots," Robotica, Vol. 12, 1994, pp. 227-241.
7. K.P. Jankowski and H.A. ElMaraghy, "Constrained formulation for invariant hybrid position / force control of robots," Trans. of the ASME J. of Dynamic Systems, Measurement, and Control, vol. 118, June 1996, pp 291-299.
8. P.V. Kokotovic, H.K. Khalil, and J.O'Reilly, Singular Perturbation Methods in Control: Analysis and Design, Academic Press, New York, 1986.
9. E. Kubica and D. Wang, "A fuzzy-control strategy for a flexible single link robot," American Control Conference Proceedings, 1993, pp. 236-241.
10. J. Lin and F.L. Lewis, "A symbolic formulation of dynamic equations for a manipulator with rigid and flexible links," The International Journal of Robotics Research, 13:5, Oct. 1994, pp. 454-466.
11. J. Lin and F.L. Lewis, "Enhanced measurement and estimation methodology for flexible link arm control," Journal of Robotic Systems, 11(5), July 1994, pp. 367-385.
12. J. Lin and F.L. Lewis, "Fuzzy controller for flexible link robot arm by reduced-order techniques," IEE Proceedings - Control Theory and Applications, Vol. 149, No. 3, 2002, pp. 177-187.
13. N. Harris McClamroch and D. Wang, "Feedback stabilization and tracking of constrained robots," IEEE Trans. on Automat. Contr., vol. 33, no. 5, May 1988, pp. 419-426.
14. J.K. Mills and A.A. Goldenberg, "Force and position control of manipulators during constrained motion tasks," IEEE Trans. on Robotics and Automation, vol. 5, no. 1, Feb. 1989, pp. 30-46.
15. J.K. Mills, "Stability and control aspects of flexible link robot manipulators during constrained motion tasks," Journal of Robotic Systems, 9(7), 1992, pp. 933-953.
16. P. Rocco and W.J. Book, "Modeling for two-time scale force/position control of flexible robots," Proc. of the 1996 IEEE Int. Conf. On Robotics and Automation, Minneapolis, Minnesota, 1996, pp. 1941-1946.